Fig 6 - uploaded by Srijal Poojari
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A route generated by the cycling mode of Google Maps suggests a path over some stairs. This would be an unsafe path for a self-driving scooter and we propose using historical ride data from human-operated scooters to generate better routes.
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This paper describes the development of a self-driving e-scooter with the ability to safely travel without a rider along a pre-planned route using automated onboard control. Ride-share electric scooters are an alternative to walking or driving, but they are often ineffective or a nuisance due to their placement after usage. An autonomous driving fr...
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Citations
... The authors propose a Proportional-Derivative (PD) controller and a feedback-linearized PD controller and evaluate their functionality in simulation. In [13], another autonomous escooter prototype is presented which uses support wheels instead of a balancing mechanism. The authors describe a path following algorithm based on a Timed-Elastic-Band Optimization Problem. ...
In order to mitigate economical, ecological, and societal challenges in electric scooter (e-scooter) sharing systems, we develop an autonomous e-scooter prototype. Our vision is to design a fully autonomous prototype that can find its way to the next parking spot, high-demand area, or charging station. In this work, we propose a path following solution to enable localization and navigation in an urban environment with a provided path to follow. We design a closed-loop architecture that solves the localization and path following problem while allowing the e-scooter to maintain its balance with a previously developed reaction wheel mechanism. Our approach facilitates state and input constraints, e.g., adhering to the path width, while remaining executable on a Raspberry Pi 5. We demonstrate the efficacy of our approach in a real-world experiment on our prototype.
